DEVICE AND METHOD FOR TRAJECTORY-DEPENDENT VEHICLE CONTROL

A vehicle control system includes a lateral control device. The lateral control device includes: a lateral controller for performing lateral control of the vehicle defined by a set of control parameters, based on minimizing a difference in a control value between a reference trajectory curve and a current trajectory curve described by the vehicle; a maximum distance determination unit for projecting the determined road layout information up to a given distance in front of the vehicle, and for determining the maximum distance at which the polynomial function representing the road layout satisfies one or more control conditions based on projected road layout information; a limit checking unit for determining a stability envelope and for checking whether limits of the stability envelope are reached by the vehicle based on the determined maximum distance. The control adapter adapts the control parameters of the lateral controller if the limits are reached.